VW: Additional PQ / long control prep (#25427)

* VW: Longitudinal support prep

* minimize diffs

* make common button events function

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/car/volkswagen/carcontroller.py

@@ -71,7 +71,6 @@ class CarController:
       hud_alert = 0
       if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
         hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
-
       can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
                                                        CS.out.steeringPressed, hud_alert, hud_control))
 

selfdrive/car/volkswagen/carstate.py

@@ -3,7 +3,8 @@ from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, CarControllerParams
+from selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
+                                            CarControllerParams
 
 
 class CarState(CarStateBase):
@@ -12,6 +13,20 @@ class CarState(CarStateBase):
     self.CCP = CarControllerParams(CP)
     self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
 
+  def create_button_events(self, pt_cp, buttons):
+    button_events = []
+
+    for button in buttons:
+      state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
+      if self.button_states[button.event_type] != state:
+        event = car.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = state
+        button_events.append(event)
+      self.button_states[button.event_type] = state
+
+    return button_events
+
   def update(self, pt_cp, cam_cp, ext_cp, trans_type):
     ret = car.CarState.new_message()
     # Update vehicle speed and acceleration from ABS wheel speeds.
@@ -112,17 +127,8 @@ class CarState(CarStateBase):
     # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
     ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
     ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
+    ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
     self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
-    buttonEvents = []
-    for button in self.CCP.BUTTONS:
-      state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
-      if self.button_states[button.event_type] != state:
-        event = car.CarState.ButtonEvent.new_message()
-        event.type = button.event_type
-        event.pressed = state
-        buttonEvents.append(event)
-      self.button_states[button.event_type] = state
-    ret.buttonEvents = buttonEvents
 
     # Additional safety checks performed in CarInterface.
     ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0

selfdrive/car/volkswagen/interface.py

@@ -1,7 +1,9 @@
 from cereal import car
-from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter
+from selfdrive.car import STD_CARGO_KG, create_button_enable_events, scale_rot_inertia, scale_tire_stiffness, \
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+                          gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter
+
 
 EventName = car.CarEvent.EventName
 
@@ -52,6 +54,13 @@ class CarInterface(CarInterfaceBase):
     ret.lateralTuning.pid.kpV = [0.6]
     ret.lateralTuning.pid.kiV = [0.2]
 
+    # Global longitudinal tuning defaults, can be overridden per-vehicle
+
+    ret.pcmCruise = not ret.openpilotLongitudinalControl
+    ret.longitudinalActuatorDelayUpperBound = 0.5  # s
+    ret.longitudinalTuning.kpV = [0.1]
+    ret.longitudinalTuning.kiV = [0.0]
+
     # Per-chassis tuning values, override tuning defaults here if desired
 
     if candidate == CAR.ARTEON_MK1:
@@ -160,7 +169,8 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
 
-    events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic])
+    events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+                                       pcm_enable=not self.CS.CP.openpilotLongitudinalControl)
 
     # Low speed steer alert hysteresis logic
     if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
@@ -170,6 +180,13 @@ class CarInterface(CarInterfaceBase):
     if self.low_speed_alert:
       events.add(EventName.belowSteerSpeed)
 
+    if self.CS.CP.openpilotLongitudinalControl:
+      if ret.vEgo < self.CP.minEnableSpeed + 2.:
+        events.add(EventName.belowEngageSpeed)
+      if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
+        events.add(EventName.speedTooLow)
+
+    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/volkswagen/values.py

@@ -26,9 +26,9 @@ class CarControllerParams:
     self.STEER_MAX = 300                  # Max heading control assist torque 3.00 Nm
     self.STEER_DRIVER_MULTIPLIER = 3      # weight driver torque heavily
     self.STEER_DRIVER_FACTOR = 1          # from dbc
-  
+
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-  
+
     if True:  # pylint: disable=using-constant-test
       self.LDW_STEP = 10                  # LDW_02 message frequency 10Hz
       self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-3c89454df9cf2f25a5759d523a8c595e69865505
+60aa8580527e513fe25100a348ee4c5971717960